Second-order model (Swing)

root-Ypos

lowerback-Yrot

Sequence

Samples

NMSE

NLPD

NMSE

NLPD

Halton+

S10

0.21

−2.36

2.16

3.94

Halton+

S20

0.51

−2.12

5.79

8.93

Halton+

S60

0.12

−2.42

0.17

0.93

Halton+

S100

0.17

−2.37

0.12

0.79